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Disable frivolous PMD warnings and enable PMD in ntcore (#3419)

Browse Source 
Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.

Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.

Fixes #1697.
This commit is contained in:
Tyler Veness
2021-06-09 07:01:00 -07:00
committed by GitHub
parent 8284075ee4
commit c1e128bd5a
93 changed files with 154 additions and 326 deletions
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2
wpimath/src/main/java/edu/wpi/first/math/Matrix.java
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@@ -23,7 +23,6 @@ import org.ejml.simple.SimpleMatrix;
* @param <R> The number of rows in this matrix.
* @param <C> The number of columns in this matrix.
*/
@SuppressWarnings("PMD.ExcessivePublicCount")
public class Matrix<R extends Num, C extends Num> {
protected final SimpleMatrix m_storage;
@@ -531,7 +530,6 @@ public class Matrix<R extends Num, C extends Num> {
* @throws RuntimeException if the matrix could not be decomposed(ie. is not positive
* semidefinite).
*/
@SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
public Matrix<R, C> lltDecompose(boolean lowerTriangular) {
SimpleMatrix temp = m_storage.copy();

1
wpimath/src/main/java/edu/wpi/first/math/SimpleMatrixUtils.java
View File

@@ -216,7 +216,6 @@ public final class SimpleMatrixUtils {
* @throws RuntimeException if the matrix could not be decomposed (ie. is not positive
* semidefinite).
*/
@SuppressWarnings("PMD.AvoidThrowingRawExceptionTypes")
public static SimpleMatrix lltDecompose(SimpleMatrix src, boolean lowerTriangular) {
SimpleMatrix temp = src.copy();

1
wpimath/src/main/java/edu/wpi/first/math/VecBuilder.java
View File

@@ -171,7 +171,6 @@ public class VecBuilder<N extends Num> extends MatBuilder<N, N1> {
* @param n9 the ninth element.
* @param n10 the tenth element.
*/
@SuppressWarnings("PMD.ExcessiveParameterList")
public static Vector<N10> fill(
double n1,
double n2,

2
wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
View File

@@ -101,7 +101,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
* @param addFuncX A function that adds two state vectors.
* @param dtSeconds Nominal discretization timestep.
*/
@SuppressWarnings({"ParameterName", "PMD.ExcessiveParameterList"})
@SuppressWarnings("ParameterName")
public ExtendedKalmanFilter(
Nat<States> states,
Nat<Inputs> inputs,

2
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
View File

@@ -60,7 +60,7 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
* @param globalMeasurementCorrect The function take calls correct() on the observer.
* @param timestampSeconds The timestamp of the measurement.
*/
@SuppressWarnings({"ParameterName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("ParameterName")
public <R extends Num> void applyPastGlobalMeasurement(
Nat<R> rows,
KalmanTypeFilter<S, I, O> observer,

6
wpimath/src/main/java/edu/wpi/first/math/estimator/UnscentedKalmanFilter.java
View File

@@ -26,7 +26,7 @@ import org.ejml.simple.SimpleMatrix;
* an estimate of the true covariance (as opposed to a linearized version of it). This means that
* the UKF works with nonlinear systems.
*/
@SuppressWarnings({"MemberName", "ClassTypeParameterName", "PMD.TooManyFields"})
@SuppressWarnings({"MemberName", "ClassTypeParameterName"})
public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outputs extends Num>
implements KalmanTypeFilter<States, Inputs, Outputs> {
@@ -108,7 +108,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
* @param addFuncX A function that adds two state vectors.
* @param nominalDtSeconds Nominal discretization timestep.
*/
@SuppressWarnings({"ParameterName", "PMD.ExcessiveParameterList"})
@SuppressWarnings("ParameterName")
public UnscentedKalmanFilter(
Nat<States> states,
Nat<Outputs> outputs,
@@ -144,7 +144,7 @@ public class UnscentedKalmanFilter<States extends Num, Inputs extends Num, Outpu
reset();
}
@SuppressWarnings({"ParameterName", "LocalVariableName", "PMD.CyclomaticComplexity"})
@SuppressWarnings({"ParameterName", "LocalVariableName"})
static <S extends Num, C extends Num> Pair<Matrix<C, N1>, Matrix<C, C>> unscentedTransform(
Nat<S> s,
Nat<C> dim,

2
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveDriveKinematics.java
View File

@@ -83,7 +83,7 @@ public class SwerveDriveKinematics {
* attainable max velocity. Use the {@link #normalizeWheelSpeeds(SwerveModuleState[], double)
* normalizeWheelSpeeds} function to rectify this issue.
*/
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
public SwerveModuleState[] toSwerveModuleStates(
ChassisSpeeds chassisSpeeds, Translation2d centerOfRotationMeters) {
if (!centerOfRotationMeters.equals(m_prevCoR)) {

9
wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java
View File

@@ -48,7 +48,6 @@ public final class SplineHelper {
* @param waypoints The waypoints
* @return List of splines.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(List<Pose2d> waypoints) {
QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.size() - 1];
for (int i = 0; i < waypoints.size() - 1; ++i) {
@@ -79,11 +78,7 @@ public final class SplineHelper {
* @return A vector of cubic hermite splines that interpolate through the provided waypoints and
* control vectors.
*/
@SuppressWarnings({
"LocalVariableName",
"PMD.ExcessiveMethodLength",
"PMD.AvoidInstantiatingObjectsInLoops"
})
@SuppressWarnings("LocalVariableName")
public static CubicHermiteSpline[] getCubicSplinesFromControlVectors(
Spline.ControlVector start, Translation2d[] waypoints, Spline.ControlVector end) {
@@ -208,7 +203,7 @@ public final class SplineHelper {
* @param controlVectors The control vectors.
* @return A vector of quintic hermite splines that interpolate through the provided waypoints.
*/
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(
Spline.ControlVector[] controlVectors) {
QuinticHermiteSpline[] splines = new QuinticHermiteSpline[controlVectors.length - 1];

1
wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
View File

@@ -96,7 +96,6 @@ public final class SplineParameterizer {
* @throws MalformedSplineException When the spline is malformed (e.g. has close adjacent points
* with approximately opposing headings)
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public static List<PoseWithCurvature> parameterize(Spline spline, double t0, double t1) {
var splinePoints = new ArrayList<PoseWithCurvature>();

2
wpimath/src/main/java/edu/wpi/first/math/trajectory/Trajectory.java
View File

@@ -152,7 +152,6 @@ public class Trajectory {
* @param transform The transform to transform the trajectory by.
* @return The transformed trajectory.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public Trajectory transformBy(Transform2d transform) {
var firstState = m_states.get(0);
var firstPose = firstState.poseMeters;
@@ -214,7 +213,6 @@ public class Trajectory {
* @param other The trajectory to concatenate.
* @return The concatenated trajectory.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public Trajectory concatenate(Trajectory other) {
// If this is a default constructed trajectory with no states, then we can
// simply return the rhs trajectory.

1
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryGenerator.java
View File

@@ -138,7 +138,6 @@ public final class TrajectoryGenerator {
* @param config The configuration for the trajectory.
* @return The generated trajectory.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public static Trajectory generateTrajectory(
ControlVectorList controlVectors, TrajectoryConfig config) {
final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));

6
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
View File

@@ -54,12 +54,6 @@ public final class TrajectoryParameterizer {
* from a -&gt; b -&gt; ... -&gt; z as defined in the waypoints.
* @return The trajectory.
*/
@SuppressWarnings({
"PMD.ExcessiveMethodLength",
"PMD.CyclomaticComplexity",
"PMD.NPathComplexity",
"PMD.AvoidInstantiatingObjectsInLoops"
})
public static Trajectory timeParameterizeTrajectory(
List<PoseWithCurvature> points,
List<TrajectoryConstraint> constraints,

1
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java
View File

@@ -23,7 +23,6 @@ public final class TrajectoryUtil {
* @param elements A double[] containing the raw elements of the trajectory.
* @return A trajectory created from the elements.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
private static Trajectory createTrajectoryFromElements(double[] elements) {
// Make sure that the elements have the correct length.
if (elements.length % 7 != 0) {

4
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -52,7 +52,7 @@ public class LinearSystemLoopTest {
}
@Test
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
public void testStateSpaceEnabled() {
m_loop.reset(VecBuilder.fill(0, 0));
@@ -82,7 +82,7 @@ public class LinearSystemLoopTest {
}
@Test
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
public void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =

1
wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java
View File

@@ -21,7 +21,6 @@ class RamseteControllerTest {
private static final double kAngularTolerance = Math.toRadians(2);
@Test
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
void testReachesReference() {
final var controller = new RamseteController(2.0, 0.7);
var robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));

6
wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
View File

@@ -22,11 +22,7 @@ import java.util.Random;
import org.junit.jupiter.api.Test;
public class DifferentialDrivePoseEstimatorTest {
@SuppressWarnings({
"LocalVariableName",
"PMD.ExcessiveMethodLength",
"PMD.AvoidInstantiatingObjectsInLoops"
})
@SuppressWarnings("LocalVariableName")
@Test
public void testAccuracy() {
var estimator =

6
wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
View File

@@ -98,11 +98,7 @@ public class ExtendedKalmanFilterTest {
});
}
@SuppressWarnings({
"LocalVariableName",
"PMD.AvoidInstantiatingObjectsInLoops",
"PMD.ExcessiveMethodLength"
})
@SuppressWarnings("LocalVariableName")
@Test
public void testConvergence() {
double dtSeconds = 0.00505;

4
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
View File

@@ -72,7 +72,6 @@ public class KalmanFilterTest {
}
@Test
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public void testSwerveKFStationary() {
var random = new Random();
@@ -121,7 +120,6 @@ public class KalmanFilterTest {
}
@Test
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public void testSwerveKFMovingWithoutAccelerating() {
var random = new Random();
@@ -178,7 +176,7 @@ public class KalmanFilterTest {
}
@Test
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
public void testSwerveKFMovingOverTrajectory() {
var random = new Random();

6
wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
View File

@@ -20,11 +20,7 @@ import org.junit.jupiter.api.Test;
public class MecanumDrivePoseEstimatorTest {
@Test
@SuppressWarnings({
"LocalVariableName",
"PMD.AvoidInstantiatingObjectsInLoops",
"PMD.ExcessiveMethodLength"
})
@SuppressWarnings("LocalVariableName")
public void testAccuracy() {
var kinematics =
new MecanumDriveKinematics(

6
wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
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@@ -20,11 +20,7 @@ import org.junit.jupiter.api.Test;
public class SwerveDrivePoseEstimatorTest {
@Test
@SuppressWarnings({
"LocalVariableName",
"PMD.AvoidInstantiatingObjectsInLoops",
"PMD.ExcessiveMethodLength"
})
@SuppressWarnings("LocalVariableName")
public void testAccuracy() {
var kinematics =
new SwerveDriveKinematics(

8
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
View File

@@ -103,11 +103,7 @@ public class UnscentedKalmanFilterTest {
});
}
@SuppressWarnings({
"LocalVariableName",
"PMD.AvoidInstantiatingObjectsInLoops",
"PMD.ExcessiveMethodLength"
})
@SuppressWarnings("LocalVariableName")
@Test
public void testConvergence() {
double dtSeconds = 0.00505;
@@ -293,7 +289,7 @@ public class UnscentedKalmanFilterTest {
}
@Test
@SuppressWarnings({"LocalVariableName", "ParameterName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings({"LocalVariableName", "ParameterName"})
public void testLinearUKF() {
var dt = 0.020;
var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);

2
wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java
View File

@@ -23,7 +23,7 @@ class CubicHermiteSplineTest {
private static final double kMaxDy = 0.00127;
private static final double kMaxDtheta = 0.0872;
@SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
@SuppressWarnings("ParameterName")
private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
// Start the timer.
// var start = System.nanoTime();

2
wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java
View File

@@ -20,7 +20,7 @@ class QuinticHermiteSplineTest {
private static final double kMaxDy = 0.00127;
private static final double kMaxDtheta = 0.0872;
@SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
@SuppressWarnings("ParameterName")
private void run(Pose2d a, Pose2d b) {
// Start the timer.
// var start = System.nanoTime();

2
wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java
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@@ -15,7 +15,7 @@ import java.util.Collections;
import org.junit.jupiter.api.Test;
class DifferentialDriveKinematicsConstraintTest {
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
@Test
void testDifferentialDriveKinematicsConstraint() {
double maxVelocity = Units.feetToMeters(12.0); // 12 feet per second

2
wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java
View File

@@ -20,7 +20,7 @@ import java.util.Collections;
import org.junit.jupiter.api.Test;
class DifferentialDriveVoltageConstraintTest {
@SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
@SuppressWarnings("LocalVariableName")
@Test
void testDifferentialDriveVoltageConstraint() {
// Pick an unreasonably large kA to ensure the constraint has to do some work

1
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
View File

@@ -10,7 +10,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.Test;
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
class TrapezoidProfileTest {
private static final double kDt = 0.01;

6
wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
View File

@@ -19,6 +19,12 @@ import org.junit.jupiter.api.DynamicTest;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.TestFactory;
// Declaring this class abstract prevents UtilityClassTest from running on itself and throwing the
// following exception:
//
// org.junit.jupiter.api.extension.ParameterResolutionException: No ParameterResolver registered
// for parameter [java.lang.Class<T> arg0] in constructor [protected
// edu.wpi.first.wpilibj.UtilityClassTest(java.lang.Class<T>)].
@SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
public abstract class UtilityClassTest<T> {
private final Class<T> m_clazz;